Motion control of multiple Dr Helpers transporting a single object in cooperation with a human based on map information

Yasuhisa Hirata; Takeo Takagi; Kazuhiro Kosuge; Hajime Asama; Hayato Kaetsu; Kuniaki Kawabata

Motion control of multiple Dr Helpers transporting a single object in cooperation with a human based on map information

Yasuhisa Hirata, Takeo Takagi, Kazuhiro Kosuge, Hajime Asama, Hayato Kaetsu, Kuniaki Kawabata

ENG - Robotics

Tohoku University

Research output: Contribution to journal › Conference article › peer-review

13 Citations (Scopus)

Abstract

In this paper, we propose a new decentralized motion control algorithm of multiple mobile robots transporting a single object in cooperation with a human based on a path generated form an environment. Each mobile robot is controlled as if it had caster-like dynamics around a representative point attached to the object and its representative point moves along the path based on the intentional force applied by a human. The proposed decentralized control algorithm is experimentally applied to three omni-directional mobile robots referred to as Dr Helper. Experimental results illustrate the validity of the proposed control algorithm.

Original language	English
Pages (from-to)	995-1000
Number of pages	6
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	1
Publication status	Published - 2002
Event	2002 IEEE International Conference on Robotics and Automation - Washington, DC, United States Duration: 2002 May 11 → 2002 May 15

Cite this

@article{5825c8eebc8b470c85e852e34510a14b,

title = "Motion control of multiple Dr Helpers transporting a single object in cooperation with a human based on map information",

abstract = "In this paper, we propose a new decentralized motion control algorithm of multiple mobile robots transporting a single object in cooperation with a human based on a path generated form an environment. Each mobile robot is controlled as if it had caster-like dynamics around a representative point attached to the object and its representative point moves along the path based on the intentional force applied by a human. The proposed decentralized control algorithm is experimentally applied to three omni-directional mobile robots referred to as Dr Helper. Experimental results illustrate the validity of the proposed control algorithm.",

author = "Yasuhisa Hirata and Takeo Takagi and Kazuhiro Kosuge and Hajime Asama and Hayato Kaetsu and Kuniaki Kawabata",

year = "2002",

language = "English",

volume = "1",

pages = "995--1000",

journal = "Proceedings - IEEE International Conference on Robotics and Automation",

issn = "1050-4729",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

note = "2002 IEEE International Conference on Robotics and Automation ; Conference date: 11-05-2002 Through 15-05-2002",

}

TY - JOUR

T1 - Motion control of multiple Dr Helpers transporting a single object in cooperation with a human based on map information

AU - Hirata, Yasuhisa

AU - Takagi, Takeo

AU - Kosuge, Kazuhiro

AU - Asama, Hajime

AU - Kaetsu, Hayato

AU - Kawabata, Kuniaki

PY - 2002

Y1 - 2002

N2 - In this paper, we propose a new decentralized motion control algorithm of multiple mobile robots transporting a single object in cooperation with a human based on a path generated form an environment. Each mobile robot is controlled as if it had caster-like dynamics around a representative point attached to the object and its representative point moves along the path based on the intentional force applied by a human. The proposed decentralized control algorithm is experimentally applied to three omni-directional mobile robots referred to as Dr Helper. Experimental results illustrate the validity of the proposed control algorithm.

AB - In this paper, we propose a new decentralized motion control algorithm of multiple mobile robots transporting a single object in cooperation with a human based on a path generated form an environment. Each mobile robot is controlled as if it had caster-like dynamics around a representative point attached to the object and its representative point moves along the path based on the intentional force applied by a human. The proposed decentralized control algorithm is experimentally applied to three omni-directional mobile robots referred to as Dr Helper. Experimental results illustrate the validity of the proposed control algorithm.

UR - http://www.scopus.com/inward/record.url?scp=0036060736&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0036060736&partnerID=8YFLogxK

M3 - Conference article

AN - SCOPUS:0036060736

SN - 1050-4729

VL - 1

SP - 995

EP - 1000

JO - Proceedings - IEEE International Conference on Robotics and Automation

JF - Proceedings - IEEE International Conference on Robotics and Automation

T2 - 2002 IEEE International Conference on Robotics and Automation

Y2 - 11 May 2002 through 15 May 2002

ER -

Motion control of multiple Dr Helpers transporting a single object in cooperation with a human based on map information

Abstract

Other files and links

Fingerprint

Cite this